include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu_frame",
  published_frame = "base_link",
  odom_frame = "odom_link",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false, 
  --publish_tracked_pose =1,
  --use_pose_extrapolator = false,   
  use_odometry= false,                     -- 是否使用里程计,如果使用要求一定要有odom的tf
  use_nav_sat = false,                      -- 是否使用gps
  use_landmarks = false,                    -- 是否使用landmark
  num_laser_scans = 1,                      -- 是否使用单线激光数据
  num_multi_echo_laser_scans = 0,           --是否使用multi_echo_laser_scans数据
  num_subdivisions_per_laser_scan = 1,      -- 1帧数据被分成几次处理,一般为1
  num_point_clouds = 0,                     -- 是否使用点云数据
  
  lookup_transform_timeout_sec = 0.2,       -- 查找tf时的超时时间
  submap_publish_period_sec = 0.3,          -- 发布数据的时间间隔
  pose_publish_period_sec = 0.1,            -- 发布tf坐标转换的频率
  trajectory_publish_period_sec = 0.1,

  rangefinder_sampling_ratio = 1.,          -- 传感器数据的采样频率
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 100.
TRAJECTORY_BUILDER_2D.min_z = 0.2

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80.
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.1

POSE_GRAPH.optimize_every_n_nodes = 160.
POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
POSE_GRAPH.constraint_builder.min_score = 0.48
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
return options

-- include "map_builder.lua"
-- include "trajectory_builder.lua"
-- -- include "pose_graph.lua"

-- options = {
--   map_builder = MAP_BUILDER,
--   trajectory_builder = TRAJECTORY_BUILDER,
--   -- LOAD_STATE_FILENAME = "/home/orangepi/carto_ws/src/lingzhi/map/my_map.pbstream",
--   map_frame= "map",
--   tracking_frame = "laser",
--   published_frame = "base_link",
--   odom_frame = "odom",
--   provide_odom_frame = true,
--   publish_frame_projected_to_2d = false,
--   use_pose_extrapolator = true,
--   use_odometry = false,
--   use_nav_sat = false,
--   use_landmarks = false,
--   num_laser_scans = 1,
--   num_multi_echo_laser_scans = 0,
--   num_subdivisions_per_laser_scan = 1,
--   num_point_clouds = 0,
--   lookup_transform_timeout_sec = 0.2,
--   submap_publish_period_sec = 0.3,
--   pose_publish_period_sec = 5e-3,
--   trajectory_publish_period_sec = 30e-3,
--   rangefinder_sampling_ratio = 1.,
--   odometry_sampling_ratio = 1.,
--   fixed_frame_pose_sampling_ratio = 1.,
--   imu_sampling_ratio = 1.,
--   landmarks_sampling_ratio = 1.,
-- }

-- MAP_BUILDER.use_trajectory_builder_2d = true

-- -- 纯定位模式配置
-- POSE_GRAPH.optimize_every_n_nodes = 0
-- MAP_BUILDER.num_background_threads = 4
-- POSE_GRAPH.global_sampling_ratio = 0.003
-- POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
-- POSE_GRAPH.constraint_builder.min_score = 0.85
-- POSE_GRAPH.global_constraint_search_after_n_seconds = 30


-- TRAJECTORY_BUILDER_2D.submaps.num_range_data = 10
-- TRAJECTORY_BUILDER_2D.min_range = 0.3
-- TRAJECTORY_BUILDER_2D.max_range = 8.
-- TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
-- TRAJECTORY_BUILDER_2D.use_imu_data = false

-- TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

-- POSE_GRAPH.optimization_problem.huber_scale = 1e2

-- -- 禁用回环检测
-- POSE_GRAPH.optimize_every_n_nodes = 0

-- return options